Intro
Preface
Contents
Contributors
List of Figures
List of Tables
New Properties of SMC Algorithms
Generalized Super-Twisting with Robustness to Arbitrary Disturbances: Disturbance-Tailored Super-Twisting (DTST)
1 Introduction
2 Motivation
2.1 Speed Tracking in a Simple Mechanical System
2.2 Limitations of STA
2.3 Limitations of Existing Generalized Second-Order Algorithms
3 Disturbance-Tailored Super-Twisting: The Basics
3.1 DTST Equations
3.2 DTST Construction and Tuning
3.3 DTST Construction Example
4 DTST: The Details

4 Prescribed-Time Inverse Optimality
5 A Simulation Example
6 Concluding Remarks
References
Designing Controllers with Predefined Convergence-Time Bound Using Bounded Time-Varying Gains
1 Introduction
2 Motivating Example
3 Preliminaries and Problem Statement
3.1 Fixed-Time Stability and Settling-Time Function
3.2 Problem Statement
4 First-Order Controllers
4.1 Prescribed-Time Controllers
4.2 Predefined-Time Controllers with Bounded Time-Varying Gains
4.3 On Reducing the Energy with Time-Varying Gains

4.4 Redesigning Fixed-Time Stabilizing Controllers Using Bounded Time-Varying Gains: The Second-Order Case
5 Main Result: Arbitrary-Order Predefined-Time Controller
5.1 Uniform Lyapunov Stability of Predefined-Time Controllers
6 Conclusion
References
SMC Observers
Bi-homogeneous Differentiators
1 Introduction and Overview
2 Preliminaries
3 The Arbitrary Order Differentiator Homogeneous in the Bi-limit
3.1 The First-Order Differentiator
3.2 The Arbitrary Order Differentiator
3.3 Convergence in Absence of Noise